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Beta - Board wont crash if limit switch for steppers is configured #276

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Merged
DocMoebiuz merged 3 commits into from
Nov 12, 2023
Merged

Beta - Board wont crash if limit switch for steppers is configured #276

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246cd51
check for initialized, remove not required function
elral Nov 12, 2023
5912d15
remove not required function
elral Nov 12, 2023
0373179
read button from eeprom also for actual stepper type
elral Nov 12, 2023
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2 changes: 1 addition & 1 deletion src/Config.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -387,7 +387,7 @@ void readConfig()
params[6] = (uint8_t)0; // backlash
params[7] = false; // deactivate output

if (command == kTypeStepperDeprecated2) {
if (command == kTypeStepperDeprecated2 || command == kTypeStepper) {
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@DocMoebiuz DocMoebiuz Nov 12, 2023

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Oops!

params[4] = readUintFromEEPROM(&addreeprom); // Button number
}

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31 changes: 26 additions & 5 deletions src/MF_Stepper/MFStepper.cpp
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Expand Up @@ -82,6 +82,9 @@ void MFStepper::detach()

void MFStepper::moveTo(long newPosition)
{
if (!_initialized)
return;

_resetting = false;
long currentPosition = _stepper->currentPosition();

Expand All @@ -100,13 +103,11 @@ void MFStepper::moveTo(long newPosition)
}
}

uint8_t MFStepper::getZeroPin()
{
return _zeroPin;
}

void MFStepper::setZero()
{
if (!_initialized)
return;

_stepper->setCurrentPosition(0);
if (_inMove == MOVE_CW) {
_stepper->moveTo(-_backlash);
Expand All @@ -115,6 +116,9 @@ void MFStepper::setZero()

void MFStepper::setZeroInReset()
{
if (!_initialized)
return;

if (_resetting) {
_stepper->setCurrentPosition(0);
_resetting = false;
Expand All @@ -123,6 +127,9 @@ void MFStepper::setZeroInReset()

void MFStepper::checkZeroPin()
{
if (!_initialized)
return;

uint8_t newState = (uint8_t)digitalRead(_zeroPin);
if (newState != _zeroPinState) {
_zeroPinState = newState;
Expand All @@ -132,6 +139,9 @@ void MFStepper::checkZeroPin()

void MFStepper::update()
{
if (!_initialized)
return;

_stepper->run();
checkZeroPin();
if (_stepper->currentPosition() == (_targetPos + _backlash * _inMove) && _deactivateOutput) {
Expand All @@ -142,6 +152,9 @@ void MFStepper::update()

void MFStepper::reset()
{
if (!_initialized)
return;

// we are not a auto reset stepper if this pin is 0
if (_zeroPin == 0)
return;
Expand All @@ -159,16 +172,24 @@ void MFStepper::reset()

void MFStepper::setMaxSpeed(uint16_t speed)
{
if (!_initialized)
return;

_stepper->setMaxSpeed(speed);
}

void MFStepper::setAcceleration(uint16_t acceleration)
{
if (!_initialized)
return;

_stepper->setAcceleration(acceleration);
}

void MFStepper::powerSavingMode(bool state)
{
if (!_initialized)
return;
if (state)
_stepper->disableOutputs();
else
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1 change: 0 additions & 1 deletion src/MF_Stepper/MFStepper.h
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Expand Up @@ -24,7 +24,6 @@ class MFStepper
void setMaxSpeed(uint16_t speed);
void setAcceleration(uint16_t acceleration);
void setZero();
uint8_t getZeroPin();
void powerSavingMode(bool state);

private:
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